1 #ifndef hpp_core_idl__path__planners_hpp__ 2 #define hpp_core_idl__path__planners_hpp__ 12 #include <hpp/pinocchio/serialization.hh> 13 #include <hpp/core/connected-component.hh> 14 #include <hpp/core/path-planner.hh> 15 #include <hpp/core/path-optimizer.hh> 16 #include <hpp/core/roadmap.hh> 17 #include <hpp/core/edge.hh> 18 #include <hpp/core/node.hh> 31 template <
typename _Base,
typename _Storage>
61 namespace corbaServer {
73 template <
typename _Base,
typename _Storage>
133 namespace corbaServer {
144 namespace core_impl {
145 template <
typename _Base,
typename _Storage>
205 namespace corbaServer {
216 namespace core_impl {
217 template <
typename _Base,
typename _Storage>
256 namespace corbaServer {
265 #endif // hpp_core_idl__path__planners_hpp__ Definition: servant-base.hh:120
RoadmapServant< POA_hpp::core_idl::Roadmap, hpp::weak_ptr< hpp::core::Roadmap > > Roadmap
Definition: path_planners-fwd.hh:127
void timeOut(hpp::value_type seconds)
Definition: path_planners.hh:406
void clear()
Definition: path_planners.hh:107
Definition: path_planners-fwd.hh:74
hpp::core::PathPlanner HppBase
Definition: path_planners-fwd.hh:150
void stopWhenProblemIsSolved(::CORBA::Boolean enable)
Definition: path_planners.hh:434
Definition: path_planners.idl:37
Definition: path_planners.idl:86
void deleteThis()
Definition: path_planners.hh:474
ConnectedComponentServant< POA_hpp::core_idl::ConnectedComponent, hpp::weak_ptr< hpp::core::ConnectedComponent > > ConnectedComponent
Definition: path_planners-fwd.hh:55
hpp::core_idl::Roadmap_ptr getRoadmap()
Definition: path_planners.hh:420
hpp::core_idl::Path_ptr getEdge(hpp::size_type i)
Definition: path_planners.hh:230
Implement CORBA interface `‘Obstacle’'.
Definition: client.hh:46
ConnectedComponentServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:25
RoadmapServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:81
double value_type
Definition: common.idl:18
void deleteThis()
Definition: path_planners.hh:96
hpp::core_idl::ConnectedComponentSeq * getConnectedComponents()
Definition: path_planners.hh:243
sequence< floatSeq > floatSeqSeq
Definition: common.idl:35
hpp::floatSeqSeq * nearestNodes(const hpp::floatSeq &config, hpp::size_type &k)
Definition: path_planners.hh:176
hpp::core_idl::PathVector_ptr optimize(hpp::core_idl::PathVector_ptr path)
Definition: path_planners.hh:485
_objref_Roadmap * Roadmap_ptr
Definition: path_planners-idl.hh:338
virtual ~PathPlannerServant()
Definition: path_planners.hh:275
hpp::core::PathPlanner Base
Definition: path_planners-fwd.hh:206
void deleteThis()
Definition: path_planners.hh:40
virtual ~PathOptimizerServant()
Definition: path_planners.hh:466
hpp::floatSeqSeq * nodes()
Definition: path_planners.hh:51
hpp::floatSeq * getNode(hpp::size_type i)
Definition: path_planners.hh:206
hpp::core_idl::PathVector_ptr computePath()
Definition: path_planners.hh:350
Definition: path_planners-fwd.hh:218
void addNode(const hpp::floatSeq &config)
Definition: path_planners.hh:121
virtual ~RoadmapServant()
Definition: path_planners.hh:88
hpp::core::ConnectedComponent HppBase
Definition: path_planners-fwd.hh:36
hpp::size_type getNbEdges()
Definition: path_planners.hh:218
Definition: path_planners.idl:114
void oneStep()
Definition: path_planners.hh:336
hpp::size_type getNbNodes()
Definition: path_planners.hh:194
hpp::core::Roadmap Base
Definition: path_planners-fwd.hh:134
hpp::core::PathOptimizer HppBase
Definition: path_planners-fwd.hh:222
void startSolve()
Definition: path_planners.hh:308
void interrupt()
Definition: path_planners.hh:378
hpp::floatSeq * nearestNode(const hpp::floatSeq &config, hpp::value_type &distance, ::CORBA::Boolean reverse)
Definition: path_planners.hh:163
hpp::core::PathOptimizer Base
Definition: path_planners-fwd.hh:257
void interrupt()
Definition: path_planners.hh:499
hpp::core::Roadmap HppBase
Definition: path_planners-fwd.hh:78
void timeOut(hpp::value_type seconds)
Definition: path_planners.hh:527
_objref_PathVector * PathVector_ptr
Definition: paths-idl.hh:82
SERVANT_BASE_TYPEDEFS(hpp::core_idl::Roadmap, HppBase)
void maxIterations(hpp::size_type n)
Definition: path_planners.hh:392
void maxIterations(hpp::size_type n)
Definition: path_planners.hh:513
PathPlannerServant< POA_hpp::core_idl::PathPlanner, hpp::weak_ptr< hpp::core::PathPlanner > > PathPlanner
Definition: path_planners-fwd.hh:199
Implementation of Hpp module Corba server.
Definition: server.hh:77
SERVANT_BASE_TYPEDEFS(hpp::core_idl::PathPlanner, HppBase)
hpp::core::ConnectedComponent Base
Definition: path_planners-fwd.hh:62
void addNodeAndEdge(const hpp::floatSeq &cfgfrom, const hpp::floatSeq &cfgto, hpp::core_idl::Path_ptr path_)
Definition: path_planners.hh:135
Definition: path_planners-fwd.hh:146
sequence< ConnectedComponent > ConnectedComponentSeq
Definition: path_planners.idl:33
SERVANT_BASE_TYPEDEFS(hpp::core_idl::ConnectedComponent, HppBase)
hpp::core_idl::PathVector_ptr finishSolve(hpp::core_idl::PathVector_ptr path)
Definition: path_planners.hh:364
Definition: servant-base.hh:89
virtual ~ConnectedComponentServant()
Definition: path_planners.hh:32
PathOptimizerServant< POA_hpp::core_idl::PathOptimizer, hpp::weak_ptr< hpp::core::PathOptimizer > > PathOptimizer
Definition: path_planners-fwd.hh:250
void deleteThis()
Definition: path_planners.hh:283
Definition: path_planners-fwd.hh:32
SERVANT_BASE_TYPEDEFS(hpp::core_idl::PathOptimizer, HppBase)
_objref_Path * Path_ptr
Definition: path_planners-idl.hh:83
sequence< double > floatSeq
Robot configuration is defined by a sequence of dof value.
Definition: common.idl:34
hpp::core_idl::PathVector_ptr solve()
Definition: path_planners.hh:294
Definition: path_planners.idl:22
void addNodeAndEdges(const hpp::floatSeq &cfgfrom, const hpp::floatSeq &cfgto, hpp::core_idl::Path_ptr path_)
Definition: path_planners.hh:149
void tryConnectInitAndGoals()
Definition: path_planners.hh:322
PathPlannerServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:268
PathOptimizerServant(::hpp::corbaServer::Server *server, const _Storage &s)
Definition: path_planners.hh:459
long long size_type
Definition: common.idl:19